version: 66.11
glider: 167
mission: 16
dive: 582
start: 10 7 113 7 38 9
data:
$ID,167
$MISSION,16
$DIVE,582
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976637.06
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,25
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,071013,072837,2031.675,12304.130,27,1.2,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.3
$GPS2,071013,073737,2031.729,12304.161,28,1.9,28,-2.9
$SPEED_LIMITS,0.168,0.196
$TGT_NAME,T5
$TGT_LATLONG,2115.000,12200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,271.7,136700,-15.5,-9.706,-26.33,3713
$D_GRID,5252
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.25,-243.3,111,2228,903,865,0.0,0.0,0,101,0.00,0.00,-69.65,0.000,16386,0.000,0.000,111,2229,2581,2562,2600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.25,-243.3,111,2229,2562,2602,3.2,-3.4,12,151,10.90,1.30,-24.70,0.000,18948,0.240,0.047,2577,1318,3708,3701,3715,0,0,0,0,0,0,24.65,25.98,26.48
$GC,169,-1.25,-243.3,2577,1317,3702,3717,16.6,-26.5,21,176,0.00,1.33,0.00,0.000,1030,0.000,0.031,2574,2190,3709,3701,3717,0,0,0,0,0,0,28.83,25.97,28.83
$GC,330,-1.25,-243.3,2574,2191,3702,3717,60.6,-26.3,37,335,0.00,1.35,0.00,0.000,260,0.000,0.039,2567,3081,3709,3702,3717,0,0,0,0,0,0,28.83,25.98,28.83
$GC,568,-1.25,-243.3,2567,3081,3702,3717,115.0,-21.4,48,573,0.00,1.30,0.00,0.000,1030,0.000,0.025,2567,2207,3709,3702,3717,0,0,0,0,0,0,28.83,26.18,28.83
$GC,743,-1.25,-243.3,2567,2207,3703,3717,151.3,-19.5,57,749,0.00,1.35,0.00,0.000,260,0.000,0.038,2562,3073,3710,3704,3717,0,0,0,0,0,0,28.83,26.03,28.83
$GC,778,-1.25,-243.3,2562,3073,3703,3717,156.7,-19.6,58,783,0.00,1.30,0.00,0.000,1030,0.000,0.022,2562,2176,3710,3703,3717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,953,-1.25,-243.3,2562,2175,3703,3717,192.1,-18.2,67,958,0.00,1.23,0.00,0.000,516,0.000,0.029,2562,1326,3710,3703,3718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1033,-1.25,-243.3,2562,1326,3703,3718,203.4,-17.4,70,1040,0.00,1.33,0.00,0.000,1030,0.000,0.030,2556,2210,3710,3703,3718,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1198,-1.25,-243.3,2555,2210,3702,3718,234.6,-17.9,79,1204,0.12,1.30,0.00,0.000,2308,0.203,0.036,2584,3066,3711,3704,3718,0,0,0,0,0,0,25.92,26.08,28.83
$GC,1356,-1.25,-243.3,2584,3066,3703,3718,259.0,-16.8,86,1361,0.00,1.25,0.00,0.000,1030,0.000,0.023,2584,2203,3710,3703,3718,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1530,-1.25,-243.3,2584,2203,3704,3718,288.8,-15.8,95,1536,0.00,1.25,0.00,0.000,516,0.000,0.028,2584,1333,3711,3704,3718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1590,-1.25,-243.3,2584,1333,3704,3718,296.0,-15.8,97,1597,0.00,1.30,0.00,0.000,1030,0.000,0.029,2580,2204,3711,3704,3718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1756,-1.25,-243.3,2579,2204,3704,3717,325.2,-16.3,106,1761,0.00,1.30,0.00,0.000,260,0.000,0.038,2573,3068,3711,3704,3718,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1821,-1.25,-243.3,2573,3067,3704,3718,335.7,-16.2,109,1826,0.00,1.27,0.00,0.000,1030,0.000,0.022,2573,2191,3711,3704,3718,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1987,-1.25,-243.3,2573,2192,3704,3718,361.3,-15.5,117,1992,0.00,1.23,0.00,0.000,516,0.000,0.028,2573,1336,3711,3704,3718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2026,-1.25,-243.3,2572,1336,3705,3718,365.4,-15.6,118,2033,0.00,1.30,0.00,0.000,1030,0.000,0.029,2569,2205,3712,3706,3718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2193,-1.25,-243.3,2567,2206,3704,3717,394.7,-16.6,127,2198,0.00,1.30,0.00,0.000,260,0.000,0.038,2561,3069,3711,3704,3718,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2292,-1.25,-243.3,2561,3069,3704,3718,409.7,-17.6,131,2299,0.00,1.25,0.00,0.000,1030,0.000,0.021,2561,2200,3711,3704,3718,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2459,-1.25,-243.3,2561,2199,3704,3718,439.7,-16.4,140,2464,0.00,1.25,0.00,0.000,516,0.000,0.028,2561,1332,3710,3703,3718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2507,-1.25,-243.3,1544,1331,3697,3716,446.8,-15.9,142,2512,0.00,1.30,0.00,0.000,1030,0.000,0.030,2561,2197,3710,3704,3717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2668,-1.25,-243.3,2561,2198,3704,3716,471.5,-14.5,150,2673,0.00,1.33,0.00,0.000,260,0.000,0.041,2560,3070,3710,3704,3716,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2791,-1.25,-243.3,2560,3070,3704,3714,487.1,-15.2,155,2799,0.00,1.25,0.00,0.000,1030,0.000,0.021,2560,2200,3709,3704,3714,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2954,-1.25,-243.3,2560,2200,3704,3712,514.9,-15.2,164,2959,0.00,1.25,0.00,0.000,516,0.000,0.027,2560,1331,3708,3704,3712,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3029,-1.25,-243.3,2560,1331,3704,3712,525.1,-15.4,167,3034,0.08,1.30,0.00,0.000,3078,0.177,0.028,2577,2198,3708,3704,3712,0,0,0,0,0,0,25.78,26.20,28.83
$GC,3205,-1.25,-243.3,2576,2199,3704,3710,552.3,-14.5,176,3210,0.00,1.27,0.00,0.000,516,0.000,0.026,2577,1332,3706,3704,3709,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3235,-1.25,-243.3,2576,1331,3704,3709,555.9,-14.2,177,3240,0.00,1.30,0.00,0.000,1030,0.000,0.029,2573,2194,3706,3703,3709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3396,-1.25,-243.3,2573,2194,3704,3706,578.8,-13.7,185,3402,0.00,1.33,0.00,0.000,260,0.000,0.040,2567,3068,3705,3704,3706,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3539,-1.25,-243.3,2567,3068,3704,3704,597.4,-14.7,191,3546,0.00,1.25,0.00,0.000,1030,0.000,0.021,2567,2200,3704,3704,3704,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3697,-1.25,-243.3,2567,2200,3704,3701,621.9,-14.3,197,3702,0.00,1.25,0.00,0.000,516,0.000,0.028,2567,1335,3703,3704,3702,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3756,-1.25,-243.3,2567,1334,3704,3701,627.3,-14.5,198,3764,0.00,1.30,0.00,0.000,1030,0.000,0.029,2562,2198,3702,3704,3700,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3914,-1.25,-243.3,2562,2199,3704,3698,654.8,-15.5,204,3919,0.00,1.33,0.00,0.000,260,0.000,0.041,2555,3069,3700,3704,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3978,-1.25,-243.3,2555,3069,3704,3696,666.0,-16.3,206,3984,0.08,1.25,0.00,0.000,3078,0.176,0.021,2577,2201,3700,3704,3696,0,0,0,0,0,0,25.85,26.30,28.83
$GC,4165,-1.25,-243.3,2577,2201,3704,3693,697.5,-17.1,212,4170,0.00,1.25,0.00,0.000,516,0.000,0.028,2578,1338,3698,3704,3692,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4190,-1.25,-243.3,2576,1338,3704,3692,697.5,-17.1,212,4196,0.00,1.30,0.00,0.000,1030,0.000,0.030,2574,2196,3697,3703,3692,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4356,-1.25,-243.3,2574,2196,3704,3689,729.6,-17.1,218,4362,0.00,1.35,0.00,0.000,260,0.000,0.041,2568,3078,3696,3704,3689,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4509,-1.25,-243.3,2569,3078,3704,3685,751.7,-17.6,222,4515,0.00,1.25,0.00,0.000,1030,0.000,0.021,2567,2214,3694,3703,3685,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4664,-1.25,-243.3,2568,2215,3704,3683,783.0,-17.0,228,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2214,3693,3704,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-1.25,-243.3,2569,2214,3704,3680,807.6,-16.3,233,4820,0.00,1.27,0.00,0.000,516,0.000,0.028,2569,1339,3691,3704,3679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4840,-1.25,-243.3,2568,1339,3702,3679,807.6,-16.3,233,4846,0.00,1.33,0.00,0.000,1030,0.000,0.031,2564,2210,3691,3704,3679,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5006,-1.25,-243.3,2563,2209,3704,3676,839.2,-16.7,239,5011,0.00,1.33,0.00,0.000,260,0.000,0.042,2557,3069,3689,3703,3676,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5065,-1.25,-243.3,2557,3069,3703,3675,845.1,-16.8,240,5071,0.00,1.27,0.00,0.000,1030,0.000,0.022,2557,2192,3689,3703,3675,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5223,-1.25,-243.3,2557,2191,3703,3672,874.9,-16.4,246,5230,0.00,1.38,0.00,0.000,260,0.000,0.039,2552,3069,3687,3703,3672,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5323,-1.25,-243.3,2550,3069,3702,3671,891.7,-16.8,249,5330,0.10,1.27,0.00,0.000,3078,0.173,0.022,2579,2187,3686,3702,3671,0,0,0,0,0,0,25.70,26.27,28.83
$GC,5506,-1.25,-243.3,2579,2187,3701,3669,920.8,-15.5,255,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2187,3685,3702,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5655,-1.25,-243.3,2579,2187,3699,3668,944.0,-15.4,260,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2187,3683,3699,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5805,-1.25,-243.3,2580,2187,3698,3666,967.0,-15.3,265,5810,0.00,1.38,0.00,0.000,260,0.000,0.039,2576,3062,3681,3698,3665,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5855,-1.25,-243.3,2577,3062,3697,3665,972.5,-15.3,266,5860,0.00,1.25,0.00,0.000,1030,0.000,0.022,2576,2204,3681,3698,3665,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,5961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5962,begin apogee
$GC,5971,-0.21,0.0,2575,2018,3697,3664,992.6,-16.1,270,6234,1.15,0.00,253.68,1.095,10246,0.155,0.000,2912,2018,2709,2794,2625,0,0,0,0,0,0,24.75,28.83,23.57
$STATE,6236,end apogee,CONTROL_FINISHED_OK
$STATE,6236,begin climb
$GC,6243,1.25,243.3,2912,2018,2791,2617,1004.2,0.0,279,6476,1.38,1.27,223.35,1.155,10756,0.077,0.037,3395,1234,1715,1805,1626,0,0,0,0,0,0,25.22,25.08,23.50
$GC,6563,1.25,243.3,3394,1234,1777,1606,971.1,13.9,289,6568,0.00,1.27,0.00,0.000,1030,0.000,0.033,3394,2046,1691,1777,1606,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6729,1.25,243.3,3394,2046,1775,1601,943.9,14.8,295,6735,0.00,1.27,0.00,0.000,516,0.000,0.036,3401,1233,1688,1775,1601,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6814,1.25,243.3,3400,1234,1774,1601,933.7,15.1,297,6820,0.00,1.27,0.00,0.000,1030,0.000,0.033,3400,2060,1687,1774,1601,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,14709,end climb,SURFACE_DEPTH_REACHED
$STATE,14709,begin surface coast
$FINISH,1.3,1.009690
$STATE,14738,end surface coast,CONTROL_FINISHED_OK
$STATE,14738,begin surface
$SM_CCo,14764,22.98,0.120,0,0,877,450.13
$SM_GC,2.13,8.55,1.58,22.98,0.022,0.025,0.120,130,2207,877,-8.86,-1.30,450.13,0,0,0,0,0,0,26.02,26.11,25.17
$IRIDIUM_FIX,2024.87,12303.75,071013,030358
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.09
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,7547072
$24V_AH,23.5,96.411
$10V_AH,9.9,60.274
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.000,137.675,619.450,22.975,0.000,0.000,0.000,280.100,1.000,0.000,29.096,2823.801,8329.907,799.737,2586.118,776.521,0.000,2423.030,0.000,2205.177,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,65.025,1155.150,120.105,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14742.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.181,0.000,0.000,0.000
$MEM,327796
$DATA_FILE_SIZE,26714,678
$CAP_FILE_SIZE,222554,0
$CFSIZE,260034560,197971968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.146, 69.0,1
$GPS,071013,114606,2032.501,12304.309,43,0.9,43,-2.9